MANIPULATOR MANUAL S5 series EPSON ProSix

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Rev.8 EM15XR3074F

EPSON ProSix

S5 series

MANIPULATOR MANUAL

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ipulator manual S5 seriesRev. 8

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EPSON ProSix

S5 series Manipulator Manual

Rev. 8

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Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator.

Please carefully read this manual and other related manuals before installing the robot system.

Keep this manual handy for easy access at all times.

WARRANTY

The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

1. Damage or malfunction caused by improper use which is not described in the manual, or careless use.

2. Malfunctions caused by customers’ unauthorized disassembly.

3. Damage due to improper adjustments or unauthorized repair attempts.

4. Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1. If the robot or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.

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Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

MANUFACTURER

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The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.

This information only applies to customers in the European Union, according to DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91/157/EEC and legislation transposing and implementing it into the various national legal systems.

For other countries, please contact your local government to investigate the possibility of recycling your product.

The battery removal/replacement procedure is described in the following manuals:

Controller manual / Manipulator manual (Maintenance section)

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This section describes what you should know before reading this manual.

Structure of Control System

S5 series Manipulators can be used with the following combinations of Controllers and software.

Controller

Software Type Composition (Hardware)

RC180 Controller EPSON RC+ 5.0

RC620 Control Unit

Drive Unit EPSON RC+ 6.0

For details on commands, refer to “EPSON RC+ User’s Guide” or “Online Help”.

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn ON/OFF all the hardware components. For the hardware components, see the table above.

Photos and Illustrations Used in This Manual

The appearance of some parts may differ from those on an actual product depending on when it was shipped or the specifications. The procedures themselves, however, are accurate.

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Setup & Operation

1. Safety ··· 3

1.1 Conventions ... 3

1.2 Design and Installation Safety ... 4

1.3 Operation Safety ... 5

1.4 Emergency Stop ... 7

1.5 How to Move Arms the Electromagnetic Brake is Applied to ... 9

1.5.1 Moving the Arm Using the Brake Release Unit ... 10

1.5.2 Moving the Arm Using the Software ... 15

1.6 Precaution for Operation in Low Power Status ... 16

1.7 Manipulator Labels ... 17

2. Specifications ··· 19

2.1 Features of Manipulators ... 19

2.2 Model Number ... 20

2.3 Appearance ... 21

2.4 Specifications ... 26

2.4.1 Table ... 26

2.4.2 Option Table ... 27

2.5 How to Set the Model ... 28

3. Environment and Installation ··· 29

3.1 Environmental Conditions ... 29

3.2 Unpacking, Transportation, and Relocation ... 31

3.2.1 Using a Crane ... 32

3.2.2 Using a Forklift ... 33

3.2.3 Removing / Attaching the Shipping Bolts and Jigs ... 33

3.2.4 Relocating ... 34

3.3 Mounting Dimensions ... 35

3.4 Installation ... 36

3.4.1 Base Table Mounting ... 37

3.4.2 Floor Mounting ... 38

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4. End Effectors ··· 47

4.1 Attaching an End Effector ... 47

4.2 Attaching Valves ... 48

4.3 WEIGHT and INERTIA Settings ... 48

4.3.1 WEIGHT Setting ... 51

4.3.2 INERTIA Setting ... 55

4.4 Precautions for Auto Acceleration / Deceleration ... 59

5. Motion Range ··· 61

5.1 Motion Range Setting by Pulse Range (for All Arms) ... 62

5.1.1 Max. Pulse Range of Arm #1 ... 63

5.2 Restriction of Manipulator Operation by Joint Angle Combination ... 69

5.3 Coordinate System ... 71

5.4 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator ... 71

Maintenance 1. Safety Maintenance ··· 75

2. Periodic Inspection ··· 77

2.1 Schedule for Maintenance Inspections ... 77

2.2 Inspection Tasks ... 78

2.2.1 Inspection While the Power is OFF (Manipulator is not operating) ... 78

2.2.2 Inspection While the Power is ON (Manipulator is operating) ... 79

2.3 Grease Replenishment ... 80

2.3.1 Joint #1 Reduction Gear Unit ... 82

2.3.2 Joint #1 Gear ... 83

2.4 Tightening Hexagon Socket Head Cap Bolts ... 89

2.5 Removing Condensation (Only protection-model) ... 90

3. Covers ··· 91

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3.3 Arm #3 Cover ... 94

3.4 Arm #4 Cover ... 95

3.5 Connector Plate ... 96

3.6 Connector Sub Plate ... 97

4. Joint #1 ··· 98

4.1 Replacing the Joint #1 Motor ... 98

4.2 Replacing the Joint #1 Reduction Gear Unit ... 104

4.2.1 Greasing the Reduction Gear Unit ... 105

4.2.2 Replacing the Reduction Gear Unit ... 106

5. Joint #2 ··· 112

5.3 Replacing the Joint #2 Timing Belt ... 127

6. Joint #3 ··· 129

7. Joint #4 ··· 145

8. Joint #5 & Joint #6 ··· 158

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10. Battery Unit (Lithium Battery) ··· 187

10.1 Precautions of the Data ... 187

10.2 Replacing the Battery Unit ... 188

10.3 Data Recovery ... 190

11. Replacing the LED Lamp ··· 192

12. Calibration ··· 194

12.1 Overview ... 194

12.2 Calibration Procedure ... 196

12.3 Calibration Jig ... 199

13. Maintenance Parts List ··· 201

13.1 Standard ... 201

13.2 Option ... 204

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Setup & Operation

This volume contains information for setup and operation of the Manipulators.

Please read this volume thoroughly before setting up and operating the Manipulators.

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1. Safety

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

Please read this manual and other related manuals before installing the robot system or before connecting cables.

Keep this manual handy for easy access at all times.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

WARNING

This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

WARNING

This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly.

CAUTION

This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

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1.2 Design and Installation Safety

Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.

To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide or the Safety 1.3 Design Precautions in the SPEL CT User’s Guide.

The following items are safety precautions for design personnel:

WARNING

■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide or the Safety part in the SPEL CT User’s Guide to understand the safety requirements before designing and/or constructing the robot system.

Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, and may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.

■ The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems.

■ The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.

Further precautions for installation are mentioned in the chapter Setup & Operation 3. Environment and Installation. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

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1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

WARNING

■ Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User’s Guide or the Safety 1.1 Safety-related Requirements in the SPEL CT User’s Guide before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

■ Do not enter the operating area of the Manipulator while the power to the robot system is turned ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.

■ Before operating the robot system, make sure that no one is inside the safeguarded area. The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area.

The motion of the Manipulator is always in restricted status (low speeds and low power) to secure the safety of an operator. However, operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly.

■ Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated. Continuing the operating the robot system while the Manipulator moves abnormally is extremely hazardous and may result in serious bodily injury and/or severe equipment change to the robot system.

■ Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. To shut off power to the robot system, pull out the power plug from the power source. Performing any work while connecting the AC power cable to a factory power source is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

■ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source.

Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot

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CAUTION

■ Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.

■ If the joints are operated repeatedly with the operating angle less than 5 degrees, they may get damaged early because the bearings are likely to cause oil film shortage in such situation. To prevent early breakdown, move the joints larger than 30 degrees for about five to ten times a day.

■ Oscillation (resonance) may occur continuously in low speed Manipulator motion (Speed: approx. 5 to 20%) depending on combination of Arm orientation and end effector load. Oscillation arises from natural oscillation frequency of the Arm and can be controlled by following measures.

Changing Manipulator speed Changing the teach points Changing the end effector load

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1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. It stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally. Otherwise, the Manipulator may hit the peripheral equipment since the operating trajectory while the robot system stops is different from that in normal operation. It may also reduce the life of the reduction gear unit by the shock, or reduce the life of the electromagnetic brake by worn friction plate.

To place the robot system in emergency mode during normal operation, press the Emergency Stop switch when the Manipulator is not moving.

Refer to the Controller manual for instructions on how to wire the Emergency Stop switch circuit.

Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.

Pressing the switch during the operation makes the brakes work. This will shorten the life of the brakes due to the worn friction plates.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day) Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”, make sure to stop the Manipulator using the Emergency Stop switch of the Controller.

If the Manipulator is stopped by turning OFF the Controller while it is operating, the following problems may occur.

Reduction of the life and damage of the reduction gear unit Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like while the Manipulator is operating, make sure to check the following points after power restoration.

Whether or not the reduction gear is damaged Whether or not the joints are in their proper positions

If there is a position gap, perform calibration by referring to the Maintenance 12.

Calibration in this manual.

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For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions - Safeguard System

Safety and Installation 2.6 Connection to EMERGENCY Connector To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance 2.2.2 Inspection While the Power is ON (Manipulator is operating)

Safety and Installation 5.2.2 Inspection Point - Inspection While the Power is ON (Manipulator is operating) Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed.

However, remember that the values vary depending on conditions such as the weight of the end effector and work piece, WEIGHT/SPEED/ACCEL settings, operating pose, etc.

The free running time/angle/distance of the Manipulator are shown below.

Conditions of Measurement

ACCEL Setting 100

SPEED Setting 100

Load [kg] 5

WEIGHT Setting 5

RC180 / RC620 S5-A701** S5-A901**

Free running time [second]

Arm #1 0.4

Arm #2 0.4

Arm #3 0.4

Arm #4 0.4

Arm #5 0.4

Arm #6 0.1

Free running angle [degree]

Arm #1 80 70

Arm #2 85 75

Arm #3 75 90

Arm #4 40

Arm #5 50

Arm #6 20

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1.5 How to Move Arms the Electromagnetic Brake is Applied to

When the electromagnetic brake is applied to all arms (such as emergency mode), you cannot move any arm by pushing it manually.

There are two methods to release the electromagnetic brake. Follow either method to release the electromagnetic brake and move the arms manually.

1.5.1 Moving the Arm Using the Brake Release Unit

Follow the method when you just unpack the delivered boxes or when the Controller does not start up yet.

1.5.2 Moving the Arm Using the Software

Follow the method when you can use the software.

Arm Motion

J1+

J2+ J2−

J3− J4+

J4− J5−

J5+ J6+

J3+ J6−

Joint #1

Arm #2 (Lower Arm) Arm #3

Arm #4

Joint #6

Joint #3 Joint #4

Arm #1

Joint #5

Arm #6

Joint #2

Arm #5

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1.5.1 Moving the Arm Using the Brake Release Unit

With the electromagnetic brake is ON (such as in Emergency Stop status), you cannot move all arms by hand.

You can move Arms by hand using the brake release unit while the controller power is OFF or right after unpacking.

WARNING

■ Before connecting/disconnecting the connector of Brake release unit, be sure to check the powers of the controller and break release unit are OFF.

Otherwise, it leads to the electrical shock or breakdown.

CAUTION

■ Release a brake for each joint one by one. If you need to release some brakes at a time, take a great care. Because when some joints are released at a time, the arms may fall to unintended directions. This is extremely dangerous and may break the manipulator or catch your hand, fingers.

■ Take care of the arm downward motion when the brake is released.

While you are pressing the brake release switch, the arm moves downward by its own weight. This is extremely dangerous and may break the manipulator or catch your hand, fingers.

Width 180 mm

Depth 150 mm

Height 87 mm

Weight (Cables are not included.) 1.7 kg Cable to the Manipulator 2 m

Power cable length 2 m

Power cable (US, Japan) 100 V specification Power cable (EU) 200 V specification

Power cable

Power switch Power lamp Arm switches

A View from A

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Precautions for use

CAUTION

■ After the brake release unit is disconnected, be sure to connect the external short connector. Otherwise, you cannot release the brakes.

■ Keep the external short connector.

Otherwise you cannot release the brakes.

■ If you turn ON the brake release unit while the brake release switch is being pressed, an unintended arm may move downward.

Before turning ON the brake release unit, make sure that the brake release switch is not pressed.

■ If you turn ON the brake release unit without the connector, it may lead to the short for the male pin used in the connector.

Before turning ON the brake release unit, make sure that the connector is connected.

■ When you purchased several S5 series Manipulators and use the brake release unit in the manipulator without the connection cable, you need to change the connection cable inside the manipulator.

To skip this switching work, purchase the cable set for the brake release unit.

If you purchased the manipulator and connection cable together, the cable has been installed to the manipulator before shipment.

For additional external short connector or connection cable, please contact us.



^NOTE

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How to connect the connection cable

If you purchased the manipulator and connection cable together, the cable has been installed to the manipulator before shipment. This procedure is not necessary.

(1) Turn OFF the controller.

Connector plate Hiding plate (2) 2-M4×8

(3) 4-M4×8 (2) Remove the hiding plate.

2-M4×10

(3) Open the connector plate.

4-M4×10

(4) Pass the cable through the hole below the hiding plate from the outside.

Connect the connection cable to the connector plate.

2-M4×10

Connection cable

Connector plate

(5) Take out the connector of internal cable SW1.

Internal short connector (6) Disconnect the internal short connector.

Keep the short connector to the inside of base or somewhere not to lose.

(7) Connect the connection cable and internal cable SW1.

Connector SW1 Connection

cable

(8) Mount the connector plate. Be careful not to catch the cables.

4-M4×10

(9) If the brake release unit is not used, mount the external short connector.

To prevent the external short connector from falling off, secure the two screws included with the connector.

External short connector

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Mount the brake release unit

(1) Turn OFF the controller.

(2) Remove the external short connector.

External short connector

(3) Connect the brake release unit to the connector of the connection cable.

Connector of the connection cable

Remove the brake release unit

(1) Turn OFF the brake release unit.

(2) Remove the power cable of the brake release unit.

(3) Disconnect the brake release unit from the connector of connection cable.

(4) Connect the external short connector to the connector of connection cable.

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How to use the brake release unit

CAUTION

■ Be careful of the arm downward motion while you release the brakes.

The arm will move downward by its own weight while you are pressing a brake release switch. This is extremely dangerous and may break the manipulator or catch your hand, fingers.

■ If the arm you released the brake moves strange or slower than normal, stop the motion promptly and contact us. The brake release unit is possibly broken and if you keep operating the manipulator, it may lead to the brake of the manipulator or you will be caught by the hand or fingers.

Power cable

Power switch Power lamp Arm switches

(1) Mount the brake release unit on the manipulator.

For the mounting procedure, refer to Mount the brake release unit described in the previous page.

(2) Plug the power cable into the brake release unit.

(3) Plug the power cable into the power supply plug.

(4) Turn ON the brake release unit.

When the brake release unit is enabled, the power lamp lights up.

(5) Press the arm switch J1 ~ J6 you want to move and then move the arm.

Press the switch again, then the brake will be released.

The brake will be enabled by pressing the switch once again.

Move the arm the brake is released by two persons or more (one presses the switch and one moves the arm). The arm can be very heavy and needs the significant force to move.

When the Manipulator is a Protection-model, be aware of the followings.

CAUTION

■ Do not leave the brake release unit in special environmental conditions (adverse conditions with dust and oily smoke). The brake release unit does not comply with IP65. Leaving the brake release unit in the special environmental conditions may cause damage to and/or malfunction of the brake release unit.



^NOTE

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1.5.2 Moving the Arm Using the Software

CAUTION

■ Normally, release the brake of a single joint at a time. Take extra care to release the brakes of two or more joints simultaneously from necessity. Releasing the brakes of two or more joints simultaneously may cause hands and fingers to be caught and/or equipment damage to or malfunction of the Manipulator as the arms of the Manipulator may move in unexpected directions.

■ Be careful of the arm falling when releasing the brake.

While the brake is being released, the Manipulator’s arm falls by its own weight.

The arm falling may cause hands and fingers to be caught and/or may cause equipment damage to or malfunction of the Manipulator.

■ Before releasing the brake, be sure to keep the Emergency Stop switch handy so that you can immediately press the Emergency Stop switch. If you cannot immediately press the Emergency Stop switch, you have no means to stop the arms urgently when a wrong operation causes the arm to fall. The arm falling may cause equipment damage to and/or malfunction of the Manipulator.

After releasing the Emergency Stop switch, Execute the following commands.

[Command Window]

>Reset

>Brake Off,[the number (from 1 to 6) corresponding to the arm whose brake will be turned off]

Execute the following command to turn on the brake again.

>Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be turned on]

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1.6 Precaution for Operation in Low Power Status

When the power mode is low, the Manipulator will operate at low speed and low torque.

However, comparatively high torque is generated under some circumstances so that the Manipulator can support its own weight. The maximum torque of each joint in the low power status is shown in the following table “Max. Joint Torque in Low Power Status”.

Even though the Manipulator is in the low power status, carefully operate the Manipulator since a comparatively high joint torque may be generated. Be careful not to get hands or fingers caught during operations. The Manipulator may also collide with peripheral equipment and it may cause equipment damage to or malfunction of the Manipulator.

Max. Joint Torque in Low Power Status [Unit: N·m]

Joint #1 #2 #3 #4 #5 #6

S5-A701** 121.80 135.82 56.59 12.72 19.21 8.01

S5-A901** 167.06 169.78 70.74 12.72 19.21 8.01

CAUTION

■ Carefully operate the Manipulator even though it is in the low power status. A comparatively high joint torque may be generated. The comparatively high joint torque may cause hands and fingers to be caught and/or may cause equipment damage to or malfunction of the Manipulator as it may collide with peripheral equipment.

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1.7 Manipulator Labels

The following labels are attached around the locations of the Manipulator where specific dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.

Do not tear, damage, or remove the labels. Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas:

Location

of Labels Labels Location

of Labels Labels

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NOTE:

Hazardous voltage exists while the Manipulator is ON. To avoid electric shock, do not touch any internal electric parts.

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(2)

(6)

(3)

(4) (7)

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Location of Labels

(1)

(3)

(2) (5)

(4)

(7) (6)

Back View

Lateral View (Left side) Lateral View (Right side)

Front View

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2. Specifications

2.1 Features of Manipulators

(1) High-speed and high-accuracy control

S5 Manipulator is controlled at high speed and high accuracy by techniques we have acquired while improving our SCARA robots.

- S5 Manipulator moves at high speed and stops at target points as you desire.

- High-speed and high-accuracy positioning shortens cycle time.

- Maximum operating speed has been improved at the highest level for the small industrial robot industry.

- Residual vibration has been decreased.

- Improved rigidity of the arms reduces vibration and deflection of the Manipulator.

- S5 Manipulator holds position with great stability.

(2) High-accuracy trajectory control

The accuracy of CP trajectory control has been improved so that you can operate the Manipulator with more flexibility while taking advantage of six degrees of freedom.

(3) Available for large payloads

Large allowable moment of inertia has made it possible to support relatively large payloads.

Optimal control for payload by using the WEIGHT and INERTIA commands make handling large payloads more stable.

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2.2 Model Number

S5 - A 701 S R

Type

□ : Table Top mounting W : Wall mounting

R : Ceiling mounting Environment

S : Standard model C : Clean-room model P : Protection-model Arm length

7 : 706 mm (Model name: S5) 9 : 895 mm (Model name: S5L) Environment

Cleanroom-model

Cleanroom-model Manipulator includes additional features that reduce dust emitted by the Manipulator to enable use in clean room environments.

Cleanliness level : Class ISO 3 (ISO14644-1) In previous criteria;

Clean Class: 10 or its equivalent. Amount of Dust (0.1 µm diameter or larger) in 28317 cm³ (1cft) sample-air around the center of the motion rang: 10 particles or less.)

Exhaust System : Exhaust port diameter:

Inner diameter: ø12 mm / Outer diameter: ø16 mm Exhaust tube : Polyurethane tube

Outer diameter: ø12 mm (Inner diameter:ø8 mm) or Inner diameter ø16mm.

Recommended exhaust flow rate : Approx. 1000 cm³/s (Normal) Protection-model (IP65)

The Protection-model Manipulators operate under adverse conditions with dust and oily smoke.

IP (International Protection) for the Protection-model Manipulator indicates International Standard of the protection level against dust and water.(IEC 60529, JIS C0920)

Degree of protection IP65

Dust : 6 No ingress of dust.

Water : 5 Water projected by a nozzle against enclosure from any direction shall have no harmful effects.

For details on the specifications, refer to Setup & Operation: 2.4 Specifications.

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2.3 Appearance

Part Names and Motion Range of Each Arm

J1+

J1−

J2+ J2−

J3+

J4+

J4− J5−

J5+ J6+

J6−

J3−

A

Arm Motion

Arm #1 : The whole Manipulator revolves.

Arm #2 : The lower arm swings.

Arm #3 : The upper arm swings.

Arm #4 : The wrist revolves.

Arm #5 : The wrist swings.

Arm #6 : The wrist rotates.

Joint #1

Arm #2 (Lower Arm) Arm #3

Arm #4

Joint #6

Joint #3 Joint #4

Arm #1

Joint #5

Arm #6

Base

Joint #2 LED Lamp

(This lamp lights up while the motors are ON.)

Upper Arm (Arms #3 to #6)

Arm #5

Details of Connector Plate (View A)

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Outer Dimensions

S5-A701** [Unit: mm]

87

298

59 114

330310

100 305

88 109 109

2×2 M4 Tap P0.7Depth 8 mm (Front & Back)

40 66

199

150.2 70

25

623.2 55

423

473 90 or more

40 110

80

752

4-M8 Tap P1.25 Depth: 16mm

2-M4 Tap P0.7 Depth: 8mm Air Supply Opening

M5 Tap with cover plug

Space for cables

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S5-A901** [Unit: mm]

87

398

114

330400

100 405

88 109 109

40 66

70

25

55

523

40 110

80

842

2×2 M4 Tap P0.7Depth 8 mm (Front & Back)

90 or more

4-M8 Tap P1.25 Depth: 16mm

2-M4 Tap P0.7 Depth: 8mm Air Supply Opening

M5 Tap with cover plug

Space for cables

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Standard Motion Range

S5-A701** [Unit: mm] (° = degree)

R235

R706

501

−150°

136°

+135°

+65° −135°

+190°

−360° +360°

−190°

706 305 80 88

15

225°

40310330 156179

752

948246

51 233

114 277

239

Joint #1

0 pulse position

−170° (Arm #1) +170° (Arm #1)

P point*

Joint #2 0 pulse position

Joints #3, #5 0 pulse position

Motion range of P point*

Joints #4, #6 0 pulse position Front View

Top View

Lateral View

P point*

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S5-A901** [Unit: mm] (° = degree)

R267

R895

681

−150°

+135°

+65°

−135°

+190°

−360° +360°

−190°

895 405 80 88

9

255°

40400

1137

Joint #1

0 pulse position

−170° (Arm #1) +170° (Arm #1)

P point*

Joint #2 0 pulse position

Joints #4, #6 0 pulse position Front View Top View

Lateral View

P point*

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2.4 Specifications

2.4.1 Specifications Table

Item Specification

Model Number S5-A701S S5-A701C S5-A701P S5-A901S S5-A901C S5-A901P

Model Name S5 S5L

Degree of protection - - IP65 - - IP65

Cleanliness level (ISO class) - Class 4 - - Class 4 -

Weight (not including cables, shipping jigs) 36 kg : 80 lb. 38 kg : 84 lb.

Driving method All arms AC servo motor

Max. operating speed ^*1

Arm #1 6.56 rad/s, 376 deg/s 4.71 rad/s, 270 deg/s Arm #2 6.11 rad/s, 350 deg/s 4.88 rad/s, 280 deg/s Arm #3 6.98 rad/s, 400 deg/s 5.23 rad/s, 300 deg/s

Arm #4 7.85 rad/s, 450 deg/s

Arm #5 7.85 rad/s, 450 deg/s

Arm #6 12.57 rad/s, 720 deg/s

Repeatability Arm #1 to #6 ±0.02 mm ±0.03 mm

Max. motion range

Arm #1 ±170 deg (Wall mounting: ±30 deg)

Arm #2 −150 deg, +65 deg

Arm #3 −70 deg, +190 deg −72 deg, +190 deg

Arm #4 ±190 deg

Arm #5 ±135 deg

Arm #6 ±360 deg

Max. pulse range

Arm #1 ±5920402 pulse

(Wall mounting: ±1044777 pulse)

±8120639 pulse (Wall mounting: ±1433054 pulse)

Arm #2 +2524350 pulse

−5825423 pulse +3155438 pulse

−7281778 pulse

Arm #3 +6149057 pulse

−2265442 pulse

+7686321 pulse

−2912712 pulse

Arm #4 ±5534152 pulse

Arm #5 ±3932160 pulse

Arm #6 ±6553600 pulse

Resolution

Arm #1 0.00002871 deg/pulse 0.00002093deg/pulse

Arm #2 0.00002574 deg/pulse 0.00002059 deg/pulse

Arm #3 0.00003089 deg/pulse 0.00002471 deg/pulse

Arm #4 0.00003433 deg/pulse

Motor power consumption

Arm #1 400 W

Arm #2 400 W

Arm #3 200 W

Arm #4 50 W

Arm #5 50 W

Arm #6 50 W

Payload ^*2 Rated 2 kg

Max. (with conditions) 5 (7) kg

Allowable moment

Arm #4 12 N·m (1.22kgf·m)

Arm #5 12 N·m (1.22kgf·m)

Arm #6 7 N·m (0.71kgf·m)

Allowable moment of inertia (GD²/4) ^*3

Arm #4 0.3 kg·m²

Arm #5 0.3 kg·m²

2

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Item Specification

Installed wire for customer use 15 wires : D-sub 15 pin connector Installed pneumatic tube for customer use

2 pneumatic tubes (ø6 mm), Allowable pressure: 0.49MPa

(5kgf/cm²) (71 psi) Environmental

requirements ^*4

Ambient Temperature 0 deg.C to 45 deg.C

(with minimum temperature variation) Ambient relative

humidity 20% to 80% (no condensation)

Equivalent continuous A-weighted sound

pressure level ^*5 LAeq = 80 dB (A) or under

Applicable Controller RC180, RC620

Default values (Max. setting values)

SPEED 5 (100)

ACCEL 5, 5 (100, 100)

SPEEDS 50 (2000)

ACCELS 200 (25000)

FINE 10000, 10000, 10000, 10000, 10000, 10000

(65535, 65535, 65535, 65535, 65535, 65535)

WEIGHT 2, 0

Safety standard ANSI/RIA R15.06 compliance

EN775, EN60204-1, EN55011, EN61000-6-2, EN60950

*1 In the case of PTP control

*2 When the setting payload is more than 5 kg and less than or equal to 7 kg, refer to the section “Restrictions on payload exceeding 5 kg (more than 5 kg and less than or equal to 7 kg)” in the Setup & Operation 4.3.1 WEIGHT Setting.

*3 In the case where the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA command.

*4 For details of the environmental requirements, refer to the Setup & Operation 3.1 Environmental Conditions.

*5 Conditions of Manipulator at measurement are as follows:

Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point: 1000 mm apart from the rear of Manipulator

2.4.2 Option Table

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2.5 How to Set the Model

The Manipulator model for your system has been set before the shipment from the factory.

It is normally not required to change the model when you receive your system.

CAUTION

■ When you need to change the setting of the Manipulator model, be sure to set the Manipulator model properly. Improper setting of the Manipulator model may result in abnormal or no operation of the Manipulator and/or cause safety problems.

If an MT label is attached to the rear of a Manipulator, the Manipulator has custom specifications. If the Manipulator has custom specifications, the methods for setting the model may differ from those described below. Please contact us with the number on the MT label.

The method for setting the Manipulator model depends on the software used.

Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.



^NOTE

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3. Environment and Installation

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

3.1 Environmental Conditions

A suitable environment is necessary for the robot system to function properly and safely.

Be sure to install the robot system in an environment that meets the following conditions:

Item Conditions

Ambient temperature*1 0 deg C to 45 deg C (with minimum temperature variation) Ambient relative humidity 20% to 80% (no condensation)

First transient burst noise 2 kV or less (Power wire) 1 kV or less (Signal wire) Electrostatic noise 4 kV or less

Environment · Install indoors.

· Keep away from direct sunlight.

· Keep away from dust, oily smoke, salinity, metal powder or other contaminants.

· Keep away from flammable or corrosive solvents and gases.

· Keep away from water.

· Keep away from shock or vibration.

· Keep away from sources of electric noise.

*1 The ambient temperature conditions are for the Manipulators only. For the Controller the Manipulators are connected to, refer to the Controller manual.

Manipulators are not suitable for operation in harsh environments such as painting areas, etc. When using Manipulators in inadequate environments that do not meet the above conditions, please contact us.



^NOTE

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For the Protection-model Manipulator, be sure to install the robot system in an environment that also meets the following conditions:

Item Conditions

Environment · Install indoors.

· Keep away from direct sunlight.

· Keep away from salinity or other contaminants.

· Keep away from flammable or corrosive solvents (including water)*² and gases.

· Keep away from shock or vibration.

· Keep away from sources of electric noise.

· It can be used under conditions with dust, oily smoke, metal powder or other contaminants.*³

*2 The Manipulator body is mainly made of iron and aluminum. It is not rust-proofed.

Do not use the Manipulator under conditions where the Manipulator can expose to water or any other corrosive liquid.

*3 Any contaminants that can deteriorate sealing performance of nitrile rubber oil sealing, O-rings, packing seals and liquid gasket should be avoided.

Special Environmental Conditions

The protective seals are attached on the Protection-model Manipulator to prevent dust, water, etc. from the outside. Follow the precautions in use environment described below:

The surface of the Manipulator has general oil resistance. However, if your requirements specify that the Manipulator must withstand certain kinds of oil, please consult your distributor.

Rapid change in temperature and humidity can cause condensation inside the Manipulator.

If your requirements specify that the Manipulator handles food, please consult your distributor to check whether the Manipulator gives damage to the food or not.

The Manipulator cannot be used in corrosive environments where acid or alkaline is used.

In a salty environment where the rust is likely to gather, the Manipulator is susceptible to rust.

The controller used with the Protection-model Manipulator does not have protection features for dusty, wet, or oily environment. The controller must be placed in an environment that meets the specified conditions.

WARNING

■ Use an earth leakage breaker on the AC power cable of the Controller to avoid the electric shock and circuit breakdown caused by an unexpected water leak.

Prepare the earth leakage brake that pertains the controller you are using. For details, refer to the controller manual.

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3.2 Unpacking, Transportation, and Relocation

Using a cart or similar equipment, transport the Manipulator in the same conditions as it was delivered. Observe the following when unpacking the Manipulator.

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.

WARNING

■ Only authorized personnel should perform sling work and operate a crane or forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

■ Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is extremely hazardous and may results in serious bodily injury and/or severe equipment damage to the robot system as the fall of the Manipulator.

CAUTION

■ When removing the anchor bolts, support the Manipulator to prevent falling.

Removing the anchor bolts without supporting the Manipulator may get hands, fingers, or feet caught as the Manipulator will fall.

■ Do not remove the wire tie securing the arm until you finish the installation.

You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation.

■ To carry the Manipulator, have at least 3 people to work on it and secure the Manipulator to the delivery equipment or hold it by hand. Do not hold the bottom of the base (the screened parts in the figure). Holding these parts by hand is extremely hazardous and may cause your hands and fingers to be caught or cut by the grounding electrode.

S5-A701**

Approx. 38 kg (Manipulator weight: 36 kg (80 lb.)) S5-A901**

Approx. 40 kg (Manipulator weight: 38 kg (84 lb.)) Shipping bolts

and jigs

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Use a crane for transporting the Manipulator during unpacking and relocation.

When using a lifting device other than a crane or forklift for transportation, avoid applying external force to the arms and motors of the Manipulator.

Check that the eyebolts are securely fastened.

The weight of the Manipulator S5-A701** (S5-A901**) is approx. 38 (40) kg including the shipping bolts and jigs (the Manipulator weight: 36 (38) kg (80 (84) lb.)). Use a cable strong enough to withstand the weight.

The attached eyebolts are designed to support the Manipulator weight. Do not use them for anything other than transporting the Manipulator.

Mount the shipping bolts and jigs for transporting the Manipulator.

After transporting the Manipulator, remove the eyebolts and keep them for future use.

When transporting the Manipulator for a long distance, secure it to the delivery equipment so that the Manipulator cannot fall. If necessary, pack the Manipulator in the same way as it was delivered.

When condensation occurs on the Manipulator during transport or storage, turn ON the power only after the condensation dries.

When using the Manipulator for the robot system again after long-term storage, perform a test run to verify that the Manipulator works properly. Then, operate the Manipulator thoroughly.

3.2.1 Using a Crane

To hoist the Manipulator with a crane, secure the Manipulator with shipping bolts and jigs and posture the Manipulator as shown in the figures below (the same posture as shipping).

Using a cable threaded through the eyebolts attached to the Manipulator as shown.

Transporting Posture

60°

(60°) (52°) 59°

29°

(22°)

° = degree

( ) is for S5-A901**.

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3.2.2 Using a Forklift

Position the Manipulator as shown in the figures below (the same posture as shipping) and secure it onto a pallet with shipping bolts and jigs. Insert the forklift claws under the pallet and transport the Manipulator together with the pallet. The pallet must have enough strength to bear the weight of the Manipulator. Transporting of the Manipulator must be performed slowly in order to avoid overturning or slippage.

Transporting Posture

Pallet Bolt (4-M10)

Inset here the forklift claws.

Controller

3.2.3 Removing / Attaching the Shipping Bolts and Jigs

The shipping bolts and jigs are attached to the Manipulator as shown the figure below (points A, B) for protecting the Manipulator from various external forces during transportation. The jigs are painted yellow.

Point A : 6-M5×14 hexagon socket head cap bolts with plain washers and disc spring washers

Point B : 2-M6×10 hexagon socket head cap bolts with plain washers

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Removal

(1) Remove the bolts combining the shipping jigs at the point A.

6-M5×14 hexagon socket head cap bolts with plain washers and disc spring washers (2) Remove the bolts securing the shipping jigs at the point B. Then, remove the upper

part of the shipping jigs.

2-M6×10 hexagon socket head cap bolts with plain washers and disc spring washers Before turning on the power, be sure that the shipping bolts and jigs have been removed.

The shipping bolts and jigs must then be stored for future use, in the event that the Manipulator must be moved again.

Installation

(1) Position the Manipulator as show in the figure above.

(2) Attach the upper part of the shipping jigs to the Manipulator at the point B. Secure it with the bolts.

2-M6×10 hexagon socket head cap bolts with plain washers and disc spring washers (3) Secure the shipping jigs at the point A with the bolts.

6-M5×14 hexagon socket head cap bolts with plain washers and disc spring washers

3.2.4 Relocating

Follow the procedures described below when relocating the Manipulator.

(1) Turn OFF the power for all devices and unplug the cables.

Remove the mechanical stops if using them to limit the motion range.

For details on the motion range, refer to the Setup & Operation 5.2 Motion Range Setting of Arm #1 by Mechanical Stops.

(2) Unscrew the anchor bolts.

Then, remove the Manipulator from the base table.

(3) Position the Manipulator as shown in the figure. Then, secure the Manipulator to the delivery equipment or have three or more people to carry the Manipulator.

Do not hold the bottom of the base (the screened parts in the figure). Holding these parts by hand is extremely hazardous and may cause your hands and fingers to be caught or cut by the grounding electrode.

S5-A701**

Approx. 38 kg (Manipulator weight: 36 kg (80 lb.)) S5-A901**

Approx. 40 kg (Manipulator weight: 38 kg (84 lb.))

DO NOT hold Shipping bolts and jigs



^NOTE



^NOTE

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3.3 Mounting Dimensions

Mounting Area

Be sure to have the following space available in addition to the space for mounting the Manipulator, Controller, and peripheral equipment.

Space for teaching points

Space for maintenance and inspections Space for cables

The minimum bend radius of the power cable is 90 mm. When installing the cable, be sure to maintain sufficient distance from obstacles. In addition, leave enough space for other cables so that they are not bent forcibly.

Mounting Dimensions [Unit: mm]

A 90

105 100±0.05

194 160

138 160 194 100±0.05

Power Cable

View A

4-ø12(Mounting hole)

129



^NOTE

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3.4 Installation

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.

WARNING

■ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide or the Safety 1.3 Design Precautions in the SPEL CT User’s Guide.

■ Install the Manipulator at a location with sufficient space so that a tool or a work piece on the end effector does not reach a wall or a safeguard when the Manipulator extends its arm fully while holding a work piece. Installing the Manipulator at a location with insufficient space is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as a tool or a work piece may collide with a wall and a safeguard.

■ Anchor the Manipulator before turning ON the power to or operating the Manipulator. Turning ON the power to or operating the Manipulator that is not anchored is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as the Manipulator may fall down.

■ Before installing and operating the Manipulator, make sure that all parts of the Manipulator are in place and have no external defects. Missing or defective parts may cause improper operation of the Manipulator. Improper operation of the Manipulator is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

CAUTION

■ Before first turning ON the power, be sure to remove the shipping bolts and jigs from the Manipulator. Turning ON the power while the shipping bolts and jigs are attached may result in equipment damage to the Manipulator.

■ Do not remove the wire tie securing the arm until you finish the installation.

You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation.

■ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points.

■ Oscillation (resonance) may occur during operation depending on rigidity of the installation table. If the oscillation occurs, improve rigidity of the table or change the speed or acceleration and deceleration settings.

The following sections describe the installation of the Standard Manipulator.

3.4.1 Table Top Mounting 3.4.2 Floor Mounting

For Cleanroom-model / Protection-model Manipulator, refer to each section.

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3.4.1 Base Table Mounting

A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table will differ depending on the use of the robot system. For your reference, we list some basic Manipulator table requirements here.

The base table must not only be able to bear the weight of the Manipulator but also be able to withstand the dynamic movement of the Manipulator when it operates at maximum acceleration. Ensure that there is enough strength on the base table by attaching reinforcing materials such as crossbeams.

The torque and reaction force produced by the movement of the Manipulator are as follows:

S5-A701** S5-A901**

Max. Horizontal rotating torque 600 N·m 900 N·m Max. Horizontal reaction force 1000 N 1400 N Max. Vertical rotating torque 800 N·m 900 N·m Max. Vertical reaction force 3000 N 3500 N

There are 4 threaded holes for the Manipulator base. Use M10 mounting bolts conforming to the strength, ISO898-1 property class: 12.9. For the dimensions, refer to the Setup & Operation 3.3 Mounting Dimensions.

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μm or less.

The base table must be secured on the floor to prevent it from moving.

The Manipulator must be installed horizontally.

When using a leveler to adjust the height of the base table, use a screw with M16 diameter or more.

If you are making holes for the cables and passing the cables through the holes on the base table, see photos below.

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Bolt (4-M10) Spring Washer

Manipulator Base

Base Table Manipulator Base

Anchor Bolt (M10 or larger) Base Table

10

30 mm or more

3.4.2 Floor Mounting

The floor should have enough strength to bear the weight of the Manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum torque and reaction force of the Manipulator (refer to the table in Setup & Operation 3.4.1 Base Table Mounting). As a rough standard, when there is a concrete floor with thickness of 150 mm or more, the base of the Manipulator can be secured directly to the floor with M10 anchor bolts. However, before mounting the Manipulator, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 150 mm is insufficient for mounting, even if the floor is concrete.

Anchor bolt (4-M10)

Concrete 150 mm

or more

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3.4.3 Cleanroom-model

For Cleanroom-model Manipulator, the following procedure is necessary before installation.

(1) Unpack it outside of the clean room.

(2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall.

(3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth.

(4) Carry the Manipulator in the clean room.

(5) Refer to the installation procedure of each Manipulator model and install the Manipulator.

(6) Connect an exhaust tube (ø 8 mm) to the exhaust port.

3.4.4 Protection-model

Refer to the installation procedure of each Manipulator model and install the Manipulator.

WARNING

■ Connect the power cable connection and the signal cable connector to the Manipulator immediately after the Manipulator installation. The Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP65.

CAUTION

■ When operating the Manipulator under special environmental conditions (adverse conditions with dust and oily smoke), do not place the controller in the same condition since the controller does not comply with IP65. Doing so may cause equipment damage to and/or malfunction of the controller.

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3.5 Connecting the Cables

WARNING

■ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source.

Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

■ Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. To shut off power to the robot system, pull out the power plug from the power source. Performing any work while connecting the AC power cable to a factory power source is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

■ Before wiring, turn OFF the Controller and related equipment, and then pull up a warning sign (e.g. DO NOT TURN ON THE POWER.). Wiring with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

CAUTION

■ When connecting the Manipulator and the Controller, make sure that the serial numbers on each equipment match. Improper connection between the Manipulator and Controller may not only cause improper function of the robot system but also safety problems. The connection method varies with the Controller used. For details on the connection, refer to the Controller manual.

■ Only authorized or certified personnel should be allowed to perform wiring.

Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system.

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3.5.1 Cable Connections

Cable Connections

Connect the power connector and signal connector of the M/C cables to the Controller.

<Example> Connection of S5 series Manipulator and Robot Controller RC180

M/C power cable

M/C signal cable

Cleanroom-model

When the Manipulator is Cleanroom-model, be aware that it needs an exhaust system.

Protection-model

WARNING

■ Connect the power cable connection and the signal cable connector to the Manipulator immediately after the Manipulator installation. The Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP65.

CAUTION

■ When operating the Manipulator under special environmental conditions (adverse conditions with dust and oily smoke), do not place the controller in the same condition since the controller does not comply with IP65. Doing so may cause equipment damage to and/or malfunction of the controller.